Vehicle control device, vehicle control system, vehicle control method, and storage medium

Abstract

A vehicle control device includes: a recognizer configured to recognize a surrounding environment of a vehicle; a driving controller configured to perform driving control including at least one of speed control and steering control of the vehicle on the basis of a result of recognition from the recognizer; and an information acquirer configured to acquire surrounding environment information of the surrounding environment of the vehicle in a predetermined space on the basis of the result of recognition from the recognizer in a period after the vehicle enters the predetermined space and before the vehicle exits the predetermined space under the driving control of the driving controller, and to upload the acquired surrounding environment information to an external device.

What is claimed is: 
     
         1 . A vehicle control device comprising:
 a recognizer configured to recognize a surrounding environment of a vehicle;   a driving controller configured to perform driving control including at least one of speed control and steering control of the vehicle on the basis of a result of recognition from the recognizer; and   an information acquirer configured to acquire surrounding environment information of the surrounding environment of the vehicle in a predetermined space on the basis of the result of recognition from the recognizer in a period after the vehicle enters the predetermined space and before the vehicle exits the predetermined space under the driving control of the driving controller, and to upload the acquired surrounding environment information to an external device.   
     
     
         2 . The vehicle control device according to  claim 1 ,
 wherein the information acquirer is configured to acquire the surrounding environment information when the driving controller performs the driving control in the period.   
     
     
         3 . The vehicle control device according to  claim 1 ,
 wherein the driving controller is configured to perform the driving control for acquiring the surrounding environment information when a predetermined condition has been satisfied.   
     
     
         4 . The vehicle control device according to  claim 3 ,
 wherein the predetermined condition includes a condition that the predetermined space is a parking lot in which map information has not been registered in the external device.   
     
     
         5 . The vehicle control device according to  claim 3 ,
 wherein the predetermined condition includes a condition that uploading of the surrounding environment information is permitted by a user of the vehicle.   
     
     
         6 . The vehicle control device according to  claim 3 ,
 wherein the driving controller is configured to perform driving control for acquiring the surrounding environment information in a limited range when a travel distance that the vehicle travels to acquire the surrounding environment information is limited by a user of the vehicle.   
     
     
         7 . The vehicle control device according to  claim 3 ,
 wherein the driving controller is configured to perform driving control for acquiring the surrounding environment information in a limited range when the number of times the vehicle is parked to acquire the surrounding environment information is limited by a user of the vehicle.   
     
     
         8 . The vehicle control device according to  claim 3 ,
 wherein the driving controller is configured to derive a travelable distance on the basis of an amount of residual energy of the vehicle, to select the shorter of the derived travelable distance and a travel distance which is limited by a user of the vehicle, and to perform driving control for acquiring the surrounding environment information in a range of the selected distance.   
     
     
         9 . The vehicle control device according to  claim 3 ,
 further comprising a congestion situation determiner configured to determine whether the predetermined space is congested,   wherein the predetermined condition includes a condition that the congestion situation determiner determines that the predetermined space is not congested.   
     
     
         10 . The vehicle control device according to  claim 1 ,
 wherein the predetermined space is a parking lot, and   wherein the period is a period after the vehicle enters the parking lot and before the vehicle exits the parking lot.   
     
     
         11 . The vehicle control device according to  claim 1 ,
 wherein the information acquirer is configured to acquire the surrounding environment information on the basis of the result of recognition from the recognizer when the vehicle is traveling without a driver in the predetermined space.   
     
     
         12 . A vehicle control system comprising:
 the vehicle control device according to  claim 1 ; and   the external device including a point manager configured to determine points which are provided to a user of the vehicle having uploaded the surrounding environment information on the basis of the surrounding environment information acquired by the information acquirer,   wherein the point manager is configured to determine the points on the basis of the surrounding environment information which is obtained by excluding information acquired in travel for parking at a closest parking space or the parking from information acquired in a period after the vehicle has entered the predetermined space and before the vehicle has exited the predetermined space.   
     
     
         13 . The vehicle control system according to  claim 12 ,
 wherein the point manager is configured to determine the points which vary depending on an amount of information of the surrounding environment information or a time point at which the surrounding environment information has been acquired.   
     
     
         14 . The vehicle control system according to  claim 12 ,
 wherein the point manager is configured to set the points which are provided to the user of the vehicle to be higher when the user presents an intention to agree to travel of the vehicle to acquire the surrounding environment information than when the user does not present the intention to agree.   
     
     
         15 . A vehicle control method of causing a computer mounted in a vehicle to perform:
 recognizing a surrounding environment of the vehicle;   performing driving control including at least one of speed control and steering control of the vehicle on the basis of a result of recognition;   acquiring surrounding environment information of the surrounding environment of the vehicle in a predetermined space on the basis of the result of recognition from the recognizer in a period after the vehicle enters the predetermined space and before the vehicle exits the predetermined space under the driving control; and   uploading the acquired surrounding environment information to an external device.   
     
     
         16 . A non-transitory computer-readable storage medium that stores a program causing a computer mounted in a vehicle to perform:
 recognizing a surrounding environment of the vehicle;   performing driving control including at least one of speed control and steering control of the vehicle on the basis of a result of recognition;   acquiring surrounding environment information of the surrounding environment of the vehicle in a predetermined space on the basis of the result of recognition from the recognizer in a period after the vehicle enters the predetermined space and before the vehicle exits the predetermined space under the driving control; and   uploading the acquired surrounding environment information to an external device.